/*!
  @file dense_stereo_graphcut_nodelet.cpp
  @copyright 2013 Kubota Lab. All rights resereved.
*/

#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include "stereo/dense_stereo_graphcut.h"

namespace stereo 
{

/*! 
 *  @brief  A nodelet implementation for dense stereo
 *  @author Kyohei Otsu <kyon@ac.jaxa.jp>
 *  @date   2013
 *  
 */

class DenseStereoGraphcutNodelet : public nodelet::Nodelet
{
 public:
   virtual void onInit();


 private:
   boost::shared_ptr<DenseStereoGraphcut> worker_;

};

void DenseStereoGraphcutNodelet::onInit()
{
  worker_.reset(new DenseStereoGraphcut(getNodeHandle(), getPrivateNodeHandle()));
  /* MUST RETURN SOON */
}

}  // namespace stereo


// register the nodelet
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(stereo::DenseStereoGraphcutNodelet, nodelet::Nodelet) 
